Differential game [1]} and optimal control theory [2]} have been widely applied to vehicle platooning problem. Optimal control theory studied in [3]} considers a single cost function optimized by the agents. On the other hand, differential games in
[4]} extend this idea to multiple cost functions each minimized by its relevant agent. Differential game is ideally suited to model noncooperative dynamics where there is no central decision-maker. Thus, we can construct simpler systems since there is no need for such a central processor. This reduces the construction cost of the resulting system substantially. This ad hoc decentralized system notion is also utilized in 5G communication systems [5]}.
